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Objects/026_sponge/kinbody.xml

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+<KinBody name="sponge">
+  <Body type="static" name="sponge">
+    <Geom type="trimesh">
+      <Render>textured.dae</Render>
+      <Data>textured.dae</Data>
+    </Geom>
+  </Body>
+</KinBody>

Objects/026_sponge/nontextured.stl

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+version https://git-lfs.github.com/spec/v1
+oid sha256:18389127e0c0a3ff84d726823cb7ef56e6e529f404f266817881ee815674d508
+size 819284

Objects/026_sponge/textured.mtl

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+newmtl material_0
+# shader_type beckmann
+map_Kd texture_map.png 
+

Objects/026_sponge/textured.obj

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+version https://git-lfs.github.com/spec/v1
+oid sha256:1af5c8a8da382ee1f437320c9717e0b27ecf31a5354a578206e5dd10da172867
+size 1474281

Objects/026_sponge/usd/.asset_hash

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+92f0a3d72d03bc90d97ea33818deb5bd

Objects/026_sponge/usd/Props/instanceable_meshes.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:798f3f6ad8e0c39e684cd004a1f28ff7db233cf5eaf4a715d2efa11e6731d11c
+size 1154101

Objects/026_sponge/usd/config.yaml

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+asset_path: E:\phd\research\dex\datasets\ycb_models\026_sponge\google_16k\textured.obj
+usd_dir: E:\phd\research\dex\datasets\ycb_models\026_sponge\google_16k\usd
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: true
+mass_props:
+  mass: 0.02
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
+  collision_enabled: true
+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
+- 0.0
+- 0.0
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+rotation: !!python/tuple
+- 1.0
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+- 0.0
+scale: !!python/tuple
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+- 1.0
+- 1.0
+##
+# Generated by MeshConverter on 2026-03-02 at 11:12:28.
+##

Objects/026_sponge/usd/textured.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f31944f44f89cbf2857261e86a640ccba6141ab32f338b5915da594980a0c72c
+size 1154014

Objects/026_sponge/usd_decomposition_linux/.asset_hash

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Objects/026_sponge/usd_decomposition_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/026_sponge/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/026_sponge/usd_decomposition_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
+  mass: 0.02
+  density: null
+rigid_props:
+  rigid_body_enabled: null
+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
+  max_linear_velocity: null
+  max_angular_velocity: null
+  max_depenetration_velocity: null
+  max_contact_impulse: null
+  enable_gyroscopic_forces: null
+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
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+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: pxr.UsdPhysics:MeshCollisionAPI
+  physx_func: pxr.PhysxSchema:PhysxConvexDecompositionCollisionAPI
+  mesh_approximation_name: convexDecomposition
+  hull_vertex_limit: null
+  max_convex_hulls: null
+  min_thickness: null
+  voxel_resolution: null
+  error_percentage: null
+  shrink_wrap: null
+translation: !!python/tuple
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+rotation: !!python/tuple
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+scale: !!python/tuple
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+##
+# Generated by MeshConverter on 2026-04-25 at 16:42:33.
+##

Objects/026_sponge/usd_decomposition_linux/textured.usd

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b24a8b0aa354c284f8376be3051f0dafb321802f1aa9a5a53982fe9ed4d048ee
+size 1154801

Objects/026_sponge/usd_sdf_linux/.asset_hash

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+b626254f950b40159befb484774c6a3a

Objects/026_sponge/usd_sdf_linux/config.yaml

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+asset_path: /home/ubuntu/zdj/dex2bench_dataset/Objects/026_sponge/textured.obj
+usd_dir: /home/ubuntu/zdj/dex2bench_dataset/Objects/026_sponge/usd_sdf_linux
+usd_file_name: textured.usd
+force_usd_conversion: true
+make_instanceable: false
+mass_props:
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+  density: null
+rigid_props:
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+  kinematic_enabled: null
+  disable_gravity: null
+  linear_damping: null
+  angular_damping: null
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+  max_contact_impulse: null
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+  retain_accelerations: null
+  solver_position_iteration_count: null
+  solver_velocity_iteration_count: null
+  sleep_threshold: null
+  stabilization_threshold: null
+collision_props:
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+  contact_offset: null
+  rest_offset: null
+  torsional_patch_radius: null
+  min_torsional_patch_radius: null
+mesh_collision_props:
+  usd_func: {}
+  physx_func: pxr.PhysxSchema:PhysxSDFMeshCollisionAPI
+  mesh_approximation_name: sdf
+  sdf_margin: null
+  sdf_narrow_band_thickness: null
+  sdf_resolution: null
+  sdf_subgrid_resolution: null
+translation: !!python/tuple
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+rotation: !!python/tuple
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+scale: !!python/tuple
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+##
+# Generated by MeshConverter on 2026-04-21 at 18:01:53.
+##

Objects/026_sponge/usd_sdf_linux/textured.usd

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+size 1154797

Objects/106_oven/01_oven/01/parts_render/0.txt

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+0 microwave Microwave

Objects/106_oven/01_oven/01/parts_render/13.txt

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+13 body Body

Objects/106_oven/01_oven/01/parts_render/14.txt

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+14 frame Frame

Objects/106_oven/01_oven/01/parts_render/15.txt

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+15 door Door

Objects/106_oven/01_oven/01/parts_render/16.txt

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+16 door Door

Objects/106_oven/01_oven/01/parts_render/17.txt

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+17 side_controls Side Controls

Objects/106_oven/01_oven/01/parts_render/18.txt

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+18 display_panel Display Panel

Objects/106_oven/01_oven/01/parts_render/19.txt

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+19 door_frame Door Frame

Objects/106_oven/01_oven/01/parts_render/20.txt

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+20 glass Door Glass

Objects/106_oven/01_oven/01/parts_render/21.txt

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+21 handle Handle

Objects/106_oven/01_oven/01/parts_render/22.txt

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+22 door_frame Door Frame

Objects/106_oven/01_oven/01/parts_render/23.txt

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+23 glass Door Glass

Objects/106_oven/01_oven/01/parts_render/24.txt

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+24 handle Handle